mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved.
|
|
*/
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "DigitalSource.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "tables/ITableListener.h"
|
|
|
|
#include <memory>
|
|
|
|
/**
|
|
* Class to write to digital outputs.
|
|
* Write values to the digital output channels. Other devices implemented
|
|
* elsewhere will allocate
|
|
* channels automatically so for those devices it shouldn't be done here.
|
|
*/
|
|
class DigitalOutput : public DigitalSource,
|
|
public ITableListener,
|
|
public LiveWindowSendable {
|
|
public:
|
|
explicit DigitalOutput(uint32_t channel);
|
|
virtual ~DigitalOutput();
|
|
void Set(uint32_t value);
|
|
uint32_t GetChannel() const;
|
|
void Pulse(float length);
|
|
bool IsPulsing() const;
|
|
void SetPWMRate(float rate);
|
|
void EnablePWM(float initialDutyCycle);
|
|
void DisablePWM();
|
|
void UpdateDutyCycle(float dutyCycle);
|
|
|
|
// Digital Source Interface
|
|
virtual uint32_t GetChannelForRouting() const;
|
|
virtual uint32_t GetModuleForRouting() const;
|
|
virtual bool GetAnalogTriggerForRouting() const;
|
|
|
|
virtual void ValueChanged(std::shared_ptr<ITable> source, const std::string &key,
|
|
EntryValue value, bool isNew);
|
|
void UpdateTable();
|
|
void StartLiveWindowMode();
|
|
void StopLiveWindowMode();
|
|
std::string GetSmartDashboardType() const;
|
|
void InitTable(std::shared_ptr<ITable> subTable);
|
|
std::shared_ptr<ITable> GetTable() const;
|
|
|
|
private:
|
|
uint32_t m_channel;
|
|
void *m_pwmGenerator;
|
|
|
|
std::shared_ptr<ITable> m_table = nullptr;
|
|
};
|